#pragma once
// MESSAGE ATTITUDE_QUATERNION PACKING

#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION 31

MAVPACKED(
        typedef struct __mavlink_attitude_quaternion_t {
            uint32_t time_boot_ms; /*< [ms] Timestamp (time since system boot).*/
            float q1; /*<  Quaternion component 1, w (1 in null-rotation)*/
            float q2; /*<  Quaternion component 2, x (0 in null-rotation)*/
            float q3; /*<  Quaternion component 3, y (0 in null-rotation)*/
            float q4; /*<  Quaternion component 4, z (0 in null-rotation)*/
            float rollspeed; /*< [rad/s] Roll angular speed*/
            float pitchspeed; /*< [rad/s] Pitch angular speed*/
            float yawspeed; /*< [rad/s] Yaw angular speed*/
        }) mavlink_attitude_quaternion_t;

#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN 32
#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN 32
#define MAVLINK_MSG_ID_31_LEN 32
#define MAVLINK_MSG_ID_31_MIN_LEN 32

#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC 246
#define MAVLINK_MSG_ID_31_CRC 246


#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION { \
    31, \
    "ATTITUDE_QUATERNION", \
    8, \
    {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_quaternion_t, time_boot_ms) }, \
         { "q1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_quaternion_t, q1) }, \
         { "q2", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_quaternion_t, q2) }, \
         { "q3", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_quaternion_t, q3) }, \
         { "q4", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_quaternion_t, q4) }, \
         { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_quaternion_t, rollspeed) }, \
         { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_quaternion_t, pitchspeed) }, \
         { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_quaternion_t, yawspeed) }, \
         } \
}
#else
#define MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION { \
    "ATTITUDE_QUATERNION", \
    8, \
    {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_quaternion_t, time_boot_ms) }, \
         { "q1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_quaternion_t, q1) }, \
         { "q2", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_quaternion_t, q2) }, \
         { "q3", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_quaternion_t, q3) }, \
         { "q4", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_quaternion_t, q4) }, \
         { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_quaternion_t, rollspeed) }, \
         { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_quaternion_t, pitchspeed) }, \
         { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_quaternion_t, yawspeed) }, \
         } \
}
#endif

/**
 * @brief Pack a attitude_quaternion message
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param msg The MAVLink message to compress the data into
 *
 * @param time_boot_ms [ms] Timestamp (time since system boot).
 * @param q1  Quaternion component 1, w (1 in null-rotation)
 * @param q2  Quaternion component 2, x (0 in null-rotation)
 * @param q3  Quaternion component 3, y (0 in null-rotation)
 * @param q4  Quaternion component 4, z (0 in null-rotation)
 * @param rollspeed [rad/s] Roll angular speed
 * @param pitchspeed [rad/s] Pitch angular speed
 * @param yawspeed [rad/s] Yaw angular speed
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_attitude_quaternion_pack(uint8_t system_id, uint8_t component_id,
                                                            mavlink_message_t *msg,
                                                            uint32_t time_boot_ms, float q1,
                                                            float q2, float q3, float q4,
                                                            float rollspeed, float pitchspeed,
                                                            float yawspeed) {
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN];
    _mav_put_uint32_t(buf, 0, time_boot_ms);
    _mav_put_float(buf, 4, q1);
    _mav_put_float(buf, 8, q2);
    _mav_put_float(buf, 12, q3);
    _mav_put_float(buf, 16, q4);
    _mav_put_float(buf, 20, rollspeed);
    _mav_put_float(buf, 24, pitchspeed);
    _mav_put_float(buf, 28, yawspeed);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
#else
    mavlink_attitude_quaternion_t packet;
    packet.time_boot_ms = time_boot_ms;
    packet.q1 = q1;
    packet.q2 = q2;
    packet.q3 = q3;
    packet.q4 = q4;
    packet.rollspeed = rollspeed;
    packet.pitchspeed = pitchspeed;
    packet.yawspeed = yawspeed;

    memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
    return mavlink_finalize_message(msg, system_id, component_id,
                                    MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN,
                                    MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN,
                                    MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
}

/**
 * @brief Pack a attitude_quaternion message on a channel
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param chan The MAVLink channel this message will be sent over
 * @param msg The MAVLink message to compress the data into
 * @param time_boot_ms [ms] Timestamp (time since system boot).
 * @param q1  Quaternion component 1, w (1 in null-rotation)
 * @param q2  Quaternion component 2, x (0 in null-rotation)
 * @param q3  Quaternion component 3, y (0 in null-rotation)
 * @param q4  Quaternion component 4, z (0 in null-rotation)
 * @param rollspeed [rad/s] Roll angular speed
 * @param pitchspeed [rad/s] Pitch angular speed
 * @param yawspeed [rad/s] Yaw angular speed
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t
mavlink_msg_attitude_quaternion_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                                          mavlink_message_t *msg,
                                          uint32_t time_boot_ms, float q1, float q2, float q3,
                                          float q4, float rollspeed, float pitchspeed,
                                          float yawspeed) {
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN];
    _mav_put_uint32_t(buf, 0, time_boot_ms);
    _mav_put_float(buf, 4, q1);
    _mav_put_float(buf, 8, q2);
    _mav_put_float(buf, 12, q3);
    _mav_put_float(buf, 16, q4);
    _mav_put_float(buf, 20, rollspeed);
    _mav_put_float(buf, 24, pitchspeed);
    _mav_put_float(buf, 28, yawspeed);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
#else
    mavlink_attitude_quaternion_t packet;
    packet.time_boot_ms = time_boot_ms;
    packet.q1 = q1;
    packet.q2 = q2;
    packet.q3 = q3;
    packet.q4 = q4;
    packet.rollspeed = rollspeed;
    packet.pitchspeed = pitchspeed;
    packet.yawspeed = yawspeed;

    memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan,
                                         MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN,
                                         MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN,
                                         MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
}

/**
 * @brief Encode a attitude_quaternion struct
 *
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param msg The MAVLink message to compress the data into
 * @param attitude_quaternion C-struct to read the message contents from
 */
static inline uint16_t
mavlink_msg_attitude_quaternion_encode(uint8_t system_id, uint8_t component_id,
                                       mavlink_message_t *msg,
                                       const mavlink_attitude_quaternion_t *attitude_quaternion) {
    return mavlink_msg_attitude_quaternion_pack(system_id, component_id, msg,
                                                attitude_quaternion->time_boot_ms,
                                                attitude_quaternion->q1, attitude_quaternion->q2,
                                                attitude_quaternion->q3, attitude_quaternion->q4,
                                                attitude_quaternion->rollspeed,
                                                attitude_quaternion->pitchspeed,
                                                attitude_quaternion->yawspeed);
}

/**
 * @brief Encode a attitude_quaternion struct on a channel
 *
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param chan The MAVLink channel this message will be sent over
 * @param msg The MAVLink message to compress the data into
 * @param attitude_quaternion C-struct to read the message contents from
 */
static inline uint16_t
mavlink_msg_attitude_quaternion_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                                            mavlink_message_t *msg,
                                            const mavlink_attitude_quaternion_t *attitude_quaternion) {
    return mavlink_msg_attitude_quaternion_pack_chan(system_id, component_id, chan, msg,
                                                     attitude_quaternion->time_boot_ms,
                                                     attitude_quaternion->q1,
                                                     attitude_quaternion->q2,
                                                     attitude_quaternion->q3,
                                                     attitude_quaternion->q4,
                                                     attitude_quaternion->rollspeed,
                                                     attitude_quaternion->pitchspeed,
                                                     attitude_quaternion->yawspeed);
}

/**
 * @brief Send a attitude_quaternion message
 * @param chan MAVLink channel to send the message
 *
 * @param time_boot_ms [ms] Timestamp (time since system boot).
 * @param q1  Quaternion component 1, w (1 in null-rotation)
 * @param q2  Quaternion component 2, x (0 in null-rotation)
 * @param q3  Quaternion component 3, y (0 in null-rotation)
 * @param q4  Quaternion component 4, z (0 in null-rotation)
 * @param rollspeed [rad/s] Roll angular speed
 * @param pitchspeed [rad/s] Pitch angular speed
 * @param yawspeed [rad/s] Yaw angular speed
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_attitude_quaternion_send(mavlink_channel_t chan, uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN];
    _mav_put_uint32_t(buf, 0, time_boot_ms);
    _mav_put_float(buf, 4, q1);
    _mav_put_float(buf, 8, q2);
    _mav_put_float(buf, 12, q3);
    _mav_put_float(buf, 16, q4);
    _mav_put_float(buf, 20, rollspeed);
    _mav_put_float(buf, 24, pitchspeed);
    _mav_put_float(buf, 28, yawspeed);

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
#else
    mavlink_attitude_quaternion_t packet;
    packet.time_boot_ms = time_boot_ms;
    packet.q1 = q1;
    packet.q2 = q2;
    packet.q3 = q3;
    packet.q4 = q4;
    packet.rollspeed = rollspeed;
    packet.pitchspeed = pitchspeed;
    packet.yawspeed = yawspeed;

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
#endif
}

/**
 * @brief Send a attitude_quaternion message
 * @param chan MAVLink channel to send the message
 * @param struct The MAVLink struct to serialize
 */
static inline void mavlink_msg_attitude_quaternion_send_struct(mavlink_channel_t chan, const mavlink_attitude_quaternion_t* attitude_quaternion)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    mavlink_msg_attitude_quaternion_send(chan, attitude_quaternion->time_boot_ms, attitude_quaternion->q1, attitude_quaternion->q2, attitude_quaternion->q3, attitude_quaternion->q4, attitude_quaternion->rollspeed, attitude_quaternion->pitchspeed, attitude_quaternion->yawspeed);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)attitude_quaternion, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
#endif
}

#if MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
  This varient of _send() can be used to save stack space by re-using
  memory from the receive buffer.  The caller provides a
  mavlink_message_t which is the size of a full mavlink message. This
  is usually the receive buffer for the channel, and allows a reply to an
  incoming message with minimum stack space usage.
 */
static inline void mavlink_msg_attitude_quaternion_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char *buf = (char *)msgbuf;
    _mav_put_uint32_t(buf, 0, time_boot_ms);
    _mav_put_float(buf, 4, q1);
    _mav_put_float(buf, 8, q2);
    _mav_put_float(buf, 12, q3);
    _mav_put_float(buf, 16, q4);
    _mav_put_float(buf, 20, rollspeed);
    _mav_put_float(buf, 24, pitchspeed);
    _mav_put_float(buf, 28, yawspeed);

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
#else
    mavlink_attitude_quaternion_t *packet = (mavlink_attitude_quaternion_t *)msgbuf;
    packet->time_boot_ms = time_boot_ms;
    packet->q1 = q1;
    packet->q2 = q2;
    packet->q3 = q3;
    packet->q4 = q4;
    packet->rollspeed = rollspeed;
    packet->pitchspeed = pitchspeed;
    packet->yawspeed = yawspeed;

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
#endif
}
#endif

#endif

// MESSAGE ATTITUDE_QUATERNION UNPACKING


/**
 * @brief Get field time_boot_ms from attitude_quaternion message
 *
 * @return [ms] Timestamp (time since system boot).
 */
static inline uint32_t
mavlink_msg_attitude_quaternion_get_time_boot_ms(const mavlink_message_t *msg) {
    return _MAV_RETURN_uint32_t(msg, 0);
}

/**
 * @brief Get field q1 from attitude_quaternion message
 *
 * @return  Quaternion component 1, w (1 in null-rotation)
 */
static inline float mavlink_msg_attitude_quaternion_get_q1(const mavlink_message_t *msg) {
    return _MAV_RETURN_float(msg, 4);
}

/**
 * @brief Get field q2 from attitude_quaternion message
 *
 * @return  Quaternion component 2, x (0 in null-rotation)
 */
static inline float mavlink_msg_attitude_quaternion_get_q2(const mavlink_message_t *msg) {
    return _MAV_RETURN_float(msg, 8);
}

/**
 * @brief Get field q3 from attitude_quaternion message
 *
 * @return  Quaternion component 3, y (0 in null-rotation)
 */
static inline float mavlink_msg_attitude_quaternion_get_q3(const mavlink_message_t *msg) {
    return _MAV_RETURN_float(msg, 12);
}

/**
 * @brief Get field q4 from attitude_quaternion message
 *
 * @return  Quaternion component 4, z (0 in null-rotation)
 */
static inline float mavlink_msg_attitude_quaternion_get_q4(const mavlink_message_t *msg) {
    return _MAV_RETURN_float(msg, 16);
}

/**
 * @brief Get field rollspeed from attitude_quaternion message
 *
 * @return [rad/s] Roll angular speed
 */
static inline float mavlink_msg_attitude_quaternion_get_rollspeed(const mavlink_message_t *msg) {
    return _MAV_RETURN_float(msg, 20);
}

/**
 * @brief Get field pitchspeed from attitude_quaternion message
 *
 * @return [rad/s] Pitch angular speed
 */
static inline float mavlink_msg_attitude_quaternion_get_pitchspeed(const mavlink_message_t *msg) {
    return _MAV_RETURN_float(msg, 24);
}

/**
 * @brief Get field yawspeed from attitude_quaternion message
 *
 * @return [rad/s] Yaw angular speed
 */
static inline float mavlink_msg_attitude_quaternion_get_yawspeed(const mavlink_message_t *msg) {
    return _MAV_RETURN_float(msg, 28);
}

/**
 * @brief Decode a attitude_quaternion message into a struct
 *
 * @param msg The message to decode
 * @param attitude_quaternion C-struct to decode the message contents into
 */
static inline void mavlink_msg_attitude_quaternion_decode(const mavlink_message_t *msg,
                                                          mavlink_attitude_quaternion_t *attitude_quaternion) {
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    attitude_quaternion->time_boot_ms = mavlink_msg_attitude_quaternion_get_time_boot_ms(msg);
    attitude_quaternion->q1 = mavlink_msg_attitude_quaternion_get_q1(msg);
    attitude_quaternion->q2 = mavlink_msg_attitude_quaternion_get_q2(msg);
    attitude_quaternion->q3 = mavlink_msg_attitude_quaternion_get_q3(msg);
    attitude_quaternion->q4 = mavlink_msg_attitude_quaternion_get_q4(msg);
    attitude_quaternion->rollspeed = mavlink_msg_attitude_quaternion_get_rollspeed(msg);
    attitude_quaternion->pitchspeed = mavlink_msg_attitude_quaternion_get_pitchspeed(msg);
    attitude_quaternion->yawspeed = mavlink_msg_attitude_quaternion_get_yawspeed(msg);
#else
    uint8_t len = msg->len < MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN ? msg->len
                                                                    : MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN;
    memset(attitude_quaternion, 0, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
    memcpy(attitude_quaternion, _MAV_PAYLOAD(msg), len);
#endif
}
